VPN through private IP Instead Public IP.

Hello everybody. I’m new to mikrotik router.
I got some question regarding to LAN-to-LAN Connection over internet.

My scenario : My ISP give Private IP instead of Public IP to my Modem/Router. My goal is to route 2 LAN on different site via Internet.
Is that posible to me using mikrotik router to do VPN between 2 Lan over Internet without the need of public IP as what hamachi do?

TQ.